Input / Output

enum class motion3d::M3DIOStatus

Status return type for M3DWriter and M3DReader.

Values:

enumerator kSuccess: no errors

enumerator kFileNotFound: the given file does not exist

enumerator kFileOpenError: could not open file

enumerator kFileLockError: could not lock file

enumerator kFilePermissionsError: could not set file permissions

enumerator kUnsupportedFileType: the file type is not supported

enumerator kNoTransformType: input has no transform type

enumerator kInvalidTransformType: given transform type does not exist

enumerator kNoTransforms: transforms are uninitialized or empty

enumerator kInvalidBinarySize: binary data does not result in complete transformations

enumerator kInvalidTransform: number of values does not match the advertised number

enumerator kMoreTransforms: input has more transforms than advertised

enumerator kLessTransforms: input has fewer transforms than advertised

enumerator kInvalidFrame: input has an invalid FRAME value

enumerator kInvalidType: input has an invalid TYPE value

enumerator kInvalidStamps: input has an invalid STAMPS value

enumerator kInvalidPoses: input has an invalid POSES value

enumerator kInvalidSize: input has an invalid SIZE value

enum class motion3d::M3DFileType

M3D File type.

Values:

enumerator kASCII: human-readable ascii

enumerator kBinary: binary-encoded

class MotionData

Storage class for motion data.

Public Functions

explicit MotionData(std::string frame_id = ""): Constructs motion data without initializing the transform type or the transforms.

MotionData(const TransformType &type, const TransformContainer::ConstPtr &transforms, std::string frame_id = ""): Constructs motion data and initializes the transform type and the transforms.

MotionData(const TransformType &type, const TransformContainer::ConstPtr &transforms, const TransformInterface::ConstPtr &origin, std::string frame_id = ""): Constructs motion data and initializes the transform type, the transforms and the origin.

inline const std::string &getFrameId() const

inline std::shared_ptr<const TransformType> getTransformType() const

inline TransformInterface::ConstPtr getOrigin() const

inline TransformContainer::ConstPtr getTransforms() const

inline void setFrameId(const std::string &frame_id)

inline void setTransformType(const TransformType &type)

inline void setOrigin(const TransformInterface::ConstPtr &origin)

inline void setTransforms(const TransformContainer::ConstPtr &transforms)

inline std::string desc() const

Returns:: a description of *this.

Private Members

std::shared_ptr<TransformType> transform_type_: Transform type used for exporting the transforms.

TransformInterface::Ptr origin_: Coordinate frame origin.

TransformContainer::Ptr transforms_: Container with all transforms.

std::string frame_id_: Coordinate frame identifier.

Friends

friend class M3DReader

friend class M3DWriter

friend std::ostream &operator<<(std::ostream &os, const MotionData &data): Inserts a description of *this.

class M3DReader

Motion3d (M3D) file format reader.

Note

The implementation is based on pcl::PCDReader: https://pointclouds.org/documentation/classpcl_1_1_p_c_d_reader.html

Public Functions

M3DReader() = delete

Public Static Functions

static M3DIOStatus readHeader(std::istream &fs, MotionData &motion, unsigned int &data_size, M3DFileType &file_type, unsigned int &data_idx, bool unsafe = false)

Reads a motion data header from a M3D-formatted, binary istream.

Load only the meta information (number of transforms, their types, etc), and not the transforms themselves, from a given M3D stream. Useful for fast evaluation of the underlying data structure.

Parameters:

fs – [in] a std::istream with openmode set to std::ios::binary
motion – [out] the resultant motion data (only the header data will be filled)
data_size – [out] the number of transforms
file_type – [out] the type of data
data_idx – [out] the offset of transform data within the file
unsafe – [in] read origin transform as unsafe (optional parameter)

Returns:

status

static M3DIOStatus readHeader(const std::string &file_name, MotionData &motion, unsigned int &data_size, M3DFileType &file_type, unsigned int &data_idx, bool unsafe = false, int offset = 0)

Reads a motion data header from a M3D file.

Load only the meta information (number of transforms, their types, etc), and not the transforms themselves, from a given M3D stream. Useful for fast evaluation of the underlying data structure.

Parameters:

file_name – [in] the name of the file to load
motion – [out] the resultant motion data (only the header data will be filled)
data_size – [out] the number of transforms
file_type – [out] the type of data
data_idx – [out] the offset of transform data within the file
unsafe – [in] read origin transform as unsafe (optional parameter)
offset – [in] the offset of where to expect the M3D Header in the file (optional parameter)

Returns:

status

static M3DIOStatus readBodyASCII(std::istream &fs, MotionData &motion, unsigned int data_size, bool unsafe = false)

Reads the ASCII motion data body from a M3D stream.

Reads the transforms from a text-formatted stream. For use after readHeader(), when the resulting file_type is ASCII.

Attention: This assumes the stream has been seeked to the position indicated by the data_idx result of readHeader().

Parameters:

fs – [in] the stream from which to read the body
motion – [out] the resultant motion data to be filled
data_size – [out] the number of transforms
unsafe – [in] read transform as unsafe (optional parameter)

Returns:

status

static M3DIOStatus readBodyBinary(std::istream &fs, MotionData &motion, unsigned int data_size, bool unsafe = false)

Reads the binary motion data body from a M3D stream.

Reads the transforms from a binary-formatted memory block. For use after readHeader(), when the resulting file_type is binary.

Attention: This assumes the stream has been seeked to the position indicated by the data_idx result of readHeader().

Parameters:

fs – [in] the stream from which to read the body
motion – [out] the resultant motion data to be filled
data_size – [out] the number of transforms
unsafe – [in] read transform as unsafe (optional parameter)

Returns:

status

static M3DIOStatus read(const std::string &file_name, MotionData &motion, bool unsafe = false, int offset = 0)

Reads motion data from a M3D file.

Parameters:

file_name – [in] the name of the file to load
motion – [out] the resultant motion data to be filled
unsafe – [in] read transforms as unsafe (optional parameter)
offset – [in] the offset of where to expect the M3D Header in the file (optional parameter)

Returns:

status

static std::optional<MotionData> read(const std::string &file_name, M3DIOStatus &result, bool unsafe = false, int offset = 0)

Reads motion data from a M3D file.

Parameters:

file_name – [in] the name of the file to load
result – [out] the read status
unsafe – [in] read transforms as unsafe (optional parameter)
offset – [in] the offset of where to expect the M3D Header in the file (optional parameter)

Returns:

an std::optional with the resultant motion data in case of success.

static std::optional<MotionData> read(const std::string &file_name, bool unsafe = false, int offset = 0)

Reads motion data from a M3D file.

Parameters:

file_name – [in] the name of the file to load
unsafe – [in] read transforms as unsafe (optional parameter)
offset – [in] the offset of where to expect the M3D Header in the file (optional parameter)

Returns:

an std::optional with the resultant motion data in case of success.

class M3DWriter

Motion3d (M3D) file format writer.

Note

The implementation is based on pcl::PCDWriter: https://pointclouds.org/documentation/classpcl_1_1_p_c_d_writer.html

Public Functions

M3DWriter() = delete

Public Static Functions

static std::string generateHeader(const MotionData &motion, bool binary)

Generates the header of a M3D file format.

Parameters:

motion – [in] the motion data
binary – [in] generate binary header without origin scalars

Returns:

the header as string.

static M3DIOStatus write(const std::string &file_name, const MotionData &motion, const M3DFileType &file_type, int precision = kDefaultASCIIPrecision)

Saves motion data to a M3D file in either ASCII or binary format.

Parameters:

file_name – [in] the output file name
motion – [in] the motion data
file_type – [in] output file type
precision – [in] the specified output numeric stream precision (optional parameter)

Returns:

status

static M3DIOStatus writeASCII(const std::string &file_name, const MotionData &motion, int precision = kDefaultASCIIPrecision)

Saves motion data to a M3D file in ASCII format.

Parameters:

file_name – [in] the output file name
motion – [in] the motion data
precision – [in] the specified output numeric stream precision (optional parameter)

Returns:

status

static M3DIOStatus writeBinary(const std::string &file_name, const MotionData &motion)

Saves motion data to a M3D file in binary format.

Parameters:

file_name – [in] the output file name
motion – [in] the motion data

Returns:

status

Public Static Attributes

static constexpr int kDefaultASCIIPrecision = 16